CN106255471B - 用于动态虚拟碰撞物体的系统和方法 - Google Patents

用于动态虚拟碰撞物体的系统和方法 Download PDF

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Publication number
CN106255471B
CN106255471B CN201580007381.9A CN201580007381A CN106255471B CN 106255471 B CN106255471 B CN 106255471B CN 201580007381 A CN201580007381 A CN 201580007381A CN 106255471 B CN106255471 B CN 106255471B
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China
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vco
control unit
unit according
section
medical devices
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Chinese (zh)
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CN106255471A (zh
Inventor
M·阿兹兹安
J·索格
H·昆泽
L·布鲁赫姆
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Siemens Healthcare Inc
Intuitive Surgical Operations Inc
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Siemens AG
Intuitive Surgical Operations Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Business, Economics & Management (AREA)
  • Primary Health Care (AREA)
  • General Business, Economics & Management (AREA)
  • Epidemiology (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
CN201580007381.9A 2014-02-05 2015-02-04 用于动态虚拟碰撞物体的系统和方法 Active CN106255471B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461936006P 2014-02-05 2014-02-05
US61/936,006 2014-02-05
PCT/US2015/014395 WO2015120008A1 (en) 2014-02-05 2015-02-04 System and method for dynamic virtual collision objects

Publications (2)

Publication Number Publication Date
CN106255471A CN106255471A (zh) 2016-12-21
CN106255471B true CN106255471B (zh) 2018-10-26

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CN201580007381.9A Active CN106255471B (zh) 2014-02-05 2015-02-04 用于动态虚拟碰撞物体的系统和方法

Country Status (6)

Country Link
US (2) US9993222B2 (ja)
EP (1) EP3102144B1 (ja)
JP (1) JP6530759B2 (ja)
KR (1) KR102379623B1 (ja)
CN (1) CN106255471B (ja)
WO (1) WO2015120008A1 (ja)

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CN107205786B (zh) 2015-02-25 2020-08-25 马科外科公司 用于在外科手术过程中减少跟踪中断的导航系统和方法
JP6827041B2 (ja) 2016-01-20 2021-02-10 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 医療デバイスの再配置可能なアームにおける運動偏差の急速な停止及び回復のためのシステム及び方法
US10717194B2 (en) 2016-02-26 2020-07-21 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
WO2017179624A1 (ja) * 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
WO2017187795A1 (ja) * 2016-04-28 2017-11-02 ソニー株式会社 制御装置、制御方法及び手術システム
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JP6877192B2 (ja) * 2017-03-03 2021-05-26 株式会社キーエンス 画像処理装置、画像処理方法、画像処理プログラム及びコンピュータで読み取り可能な記録媒体並びに記録した機器
US11284955B2 (en) * 2017-06-29 2022-03-29 Verb Surgical Inc. Emulation of robotic arms and control thereof in a virtual reality environment
US11011077B2 (en) 2017-06-29 2021-05-18 Verb Surgical Inc. Virtual reality training, simulation, and collaboration in a robotic surgical system
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CN108115689B (zh) * 2017-12-31 2021-05-11 芜湖哈特机器人产业技术研究院有限公司 一种机器人灵活性分析方法
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JP6997068B2 (ja) * 2018-12-19 2022-01-17 ファナック株式会社 ロボット制御装置、ロボット制御システム、及びロボット制御方法
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JP7147571B2 (ja) * 2019-01-15 2022-10-05 オムロン株式会社 経路生成装置、経路生成方法、及び経路生成プログラム
CN113040922B (zh) * 2019-12-27 2022-06-14 重庆海扶医疗科技股份有限公司 聚焦超声手术执行机构的运动控制方法、介质、系统和设备
CN111449666B (zh) * 2020-03-09 2023-07-04 北京东软医疗设备有限公司 距离监测方法、装置、血管机、电子设备及存储介质
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
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CN113456221B (zh) * 2021-06-30 2023-06-30 上海微创医疗机器人（集团）股份有限公司 可移动设备的摆位指引方法及系统、手术机器人系统
KR102583320B1 (ko) * 2021-08-05 2023-09-27 숭실대학교 산학협력단 증강현실 기반 뇌실천자술을 위한 뇌 변형 예측 방법, 이를 수행하기 위한 기록 매체 및 장치
CN114305695B (zh) * 2021-12-06 2023-12-26 上海微创医疗机器人（集团）股份有限公司 移动指引方法及系统、可读存储介质、及手术机器人系统
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Also Published As

Publication number Publication date
US20180235565A1 (en) 2018-08-23
US10849591B2 (en) 2020-12-01
US9993222B2 (en) 2018-06-12
EP3102144A1 (en) 2016-12-14
KR102379623B1 (ko) 2022-03-29
KR20160117513A (ko) 2016-10-10
JP2017512078A (ja) 2017-05-18
WO2015120008A1 (en) 2015-08-13
US20160345929A1 (en) 2016-12-01
JP6530759B2 (ja) 2019-06-12
EP3102144A4 (en) 2017-11-15
CN106255471A (zh) 2016-12-21
EP3102144B1 (en) 2019-09-18

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Country or region before: U.S.A.

Patentee before: SIEMENS HEALTHCARE Ltd.

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